CN112660027B - Control method and control system of vehicle rearview mirror and vehicle - Google Patents
Control method and control system of vehicle rearview mirror and vehicle Download PDFInfo
- Publication number
- CN112660027B CN112660027B CN202110038024.6A CN202110038024A CN112660027B CN 112660027 B CN112660027 B CN 112660027B CN 202110038024 A CN202110038024 A CN 202110038024A CN 112660027 B CN112660027 B CN 112660027B
- Authority
- CN
- China
- Prior art keywords
- vehicle
- parking
- rearview mirror
- parking space
- type
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Rear-View Mirror Devices That Are Mounted On The Exterior Of The Vehicle (AREA)
Abstract
The invention provides a control method and a control system of a vehicle rearview mirror and a vehicle, and relates to the technical field of vehicles. The control method of the vehicle mirror of the present embodiment includes: when the automatic parking function of the vehicle is started, detecting the parking space type of the vehicle for parking; when the parking space type is a vertical parking space or an inclined parking space, detecting the parking type of automatic parking of the vehicle, wherein the parking type comprises parking in or parking out; when the parking type is parking, controlling a rearview mirror of the vehicle to be in a folded state when the vehicle is parked to a preset stage; when the parking type is parking out, the rearview mirrors are controlled to be in a folded state when the automatic parking of the vehicle is started, and are switched to an unfolded state when the vehicle is parked out of a first preset distance. The vehicle controls the folding or unfolding of the rearview mirror in the automatic parking process, so that the risk of scraping the rearview mirror and an adjacent vehicle can be greatly reduced, and the safety of automatic parking is improved.
Description
Technical Field
The invention relates to the technical field of vehicles, in particular to a control method and a control system of a vehicle rearview mirror and a vehicle.
Background
The full-automatic parking technology in the industry at present develops rapidly, and each large vehicle enterprise develops force on the full-automatic parking technology, so that a plurality of excellent technical schemes emerge, the full-automatic parking technology provides convenient parking service for drivers, automatic parking can be completed in the automatic control transverse and longitudinal processes by a vehicle controller, in the full-automatic parking, when only a small vehicle is parked, the requirement of a client on the automatic parking function is most urgent, but when the vehicle is vertical to a parking space, the risk of scraping and colliding an external rearview mirror with a wall surface or an adjacent vehicle exists when the parking space is small, and the generated reason is that an error exists in a sensing system around the vehicle and the position and the width of the external rearview mirror of the adjacent vehicle cannot be detected.
In the existing stage, the automatic parking technology is divided into two routes, namely a non-fused parking system and a full-automatic parking system realized only by an ultrasonic sensor. The two-fusion parking system adopts a fusion scheme of ultrasonic waves and a panoramic camera to realize a full-automatic parking system. In the fusion type full-automatic parking system, the position where the camera is arranged is located below the outer rearview mirror, and the folding of the outer rearview mirror can affect the parking system, so that the control logic and the scheme of the patent are designed on the basis of ensuring the parking performance and being suitable for the function of parking a small car.
In full-automatic parking, when only a small car position is parked, the requirement of a customer on the automatic parking function is most urgent, but when the car position is vertical to the car position, the risk that an external rearview mirror is scraped by a wall surface or an adjacent vehicle exists when the car position is small, and the generated reason is that an error exists in a sensing system around the vehicle and the position and the width of the external rearview mirror of the adjacent vehicle cannot be detected. In the prior art, the folding and unfolding control of the outer rearview mirror is realized only after parking is finished and before parking begins, the outer rearview mirror is kept in an unfolded state in the whole parking process in the control mode, and the risk of scratching the outer rearview mirror exists in a narrow and small vertical parking space.
Disclosure of Invention
An object of the first aspect of the present invention is to provide a method for controlling a vehicle rearview mirror, which solves the problem that the rearview mirror is scratched by other vehicles after being folded during an automatic parking process in the prior art.
It is a further object of the first aspect of the present invention to further increase the accuracy of the judgment of the folding of the rear view mirror during automatic parking.
It is an object of a second aspect of the present invention to provide a vehicle mirror control system for automatic parking.
It is an object of a third aspect of the invention to provide a vehicle incorporating the vehicle mirror control system when automatically parking.
In particular, the present invention provides a control method of a vehicle rearview mirror, including:
when the automatic parking function of the vehicle is started, detecting the parking space type of the vehicle for parking;
when the parking space type is a vertical parking space or an inclined parking space, detecting a parking type of the automatic parking of the vehicle, wherein the parking type comprises parking in or parking out;
when the parking type is parking, controlling a rearview mirror of the vehicle to be in a folded state when the vehicle is parked to a preset stage;
when the parking type is parking out, the rearview mirrors are controlled to be in a folded state when the automatic parking function of the vehicle is turned on, and are switched to an unfolded state when the vehicle is parked out of a first preset distance.
Alternatively,
when the parking type is parking, the control method further includes:
detecting whether other vehicles exist in the parking spaces on both sides of the parking space to be parked;
detecting whether other vehicles exist in parking spaces on two sides adjacent to a target parking space to be parked;
under the condition that other vehicles exist in the parking spaces on two sides of the target parking space, continuously detecting the minimum distance between the rearview mirror and the other vehicles when the rearview mirror is automatically parked in the target parking space, and controlling the rearview mirror to be in a folded state when the minimum distance is smaller than a second preset distance; and when the minimum distance is greater than or equal to the second preset distance, controlling the rearview mirror to be in a folded state when the vehicle is parked to the preset stage. Optionally, the preset phase is a phase of a last gear shift of the vehicle before the automatic parking is finished.
Optionally, the first preset distance is less than a body length of the vehicle.
Optionally, the first preset distance is 40-80cm; the second preset distance is 10-30cm.
Alternatively,
when it is detected that the parking type is park-out, the control method further includes:
detecting whether other vehicles exist in parking spaces on two sides close to a target parking space to be parked;
when other vehicles exist in parking spaces on two sides of the target parking space, continuously detecting the minimum distance between the rearview mirror of the vehicle and the other vehicles when the vehicle is automatically parked in the parking space, controlling the rearview mirror to be in a folded state when the automatic parking function of the vehicle is started when the minimum distance is greater than or equal to a third preset distance, and switching to be in an unfolded state when the vehicle is parked out of a first preset distance; and when the minimum distance is smaller than the third preset distance, controlling the rearview mirror to be in the folded state when the automatic parking function of the vehicle is started, and switching to the unfolded state after the vehicle is completely parked out of the parking space.
Optionally, the third preset distance is 10-30cm.
Optionally, after detecting the parking space type of the vehicle parking, the method further includes:
and when the parking space type of the vehicle is detected to be a horizontal parking space, controlling the rearview mirror of the vehicle to be in an unfolded state until the parking is finished.
Particularly, the invention also provides a vehicle rearview mirror control system during automatic parking, which comprises a control device and a processor, wherein the control device comprises a memory and the processor, the memory stores a control program, and the control program is used for realizing the control method of the vehicle rearview mirror when being executed by the processor.
In particular, the invention also provides a vehicle comprising the automatic parking vehicle rearview mirror control system.
The rearview mirror control method of the automatic parking vehicle is used for controlling the rearview mirror of the vehicle in the automatic parking process of the vehicle in a vertical parking space or an inclined parking space. When the automatic parking of the vehicle is of the type of parking, the rearview mirrors controlling the vehicle are in a folded state when the vehicle is parked to a preset stage until the parking is finished. The preset stage of the invention is the last stage of automatic parking of the vehicle, and the risk that the rearview mirror scrapes the adjacent vehicle can be greatly reduced by folding the rearview mirror when the whole vehicle reaches the last stage when automatically parking in the parking space. In addition, when the vehicle is parked out, the outer rearview mirror can be scraped with an adjacent vehicle at the first time when the vehicle is parked out, so that the outer rearview mirror is folded at the beginning of automatic parking, the rearview mirror is switched to be unfolded after the outer rearview mirror reaches the first preset distance, the risk that the vehicle scrapes the side vehicle when the vehicle is parked out of the parking space automatically can be well avoided, and the safety is improved.
Further, when the automatic parking of the vehicle starts, a sensor of the automatic parking system of the vehicle is used for detecting whether the vehicle is in a parking space adjacent to the parking space of the automatic parking vehicle, and the distance between the vehicle and the adjacent vehicle is continuously detected when the vehicle is in the adjacent parking space. According to the different control modes of the rearview mirror, the control precision of the rearview mirror in the automatic parking process of the vehicle is improved according to the distance between the vehicle and the adjacent vehicle, so that the control steps of the rearview mirror are reduced when no vehicle exists in the adjacent parking space, and the condition that the control system or the mechanical structure of the rearview mirror is aged due to the fact that the rearview mirror is controlled to be unfolded and folded under any condition is avoided. And when a vehicle is arranged on the adjacent vehicle of the vehicle, the rearview mirrors are respectively controlled according to the different distances between the vehicle and the adjacent vehicle, so that the scraping probability between the rearview mirrors and the adjacent vehicle can be further reduced, and the safety of automatic parking is improved.
The above and other objects, advantages and features of the present invention will become more apparent to those skilled in the art from the following detailed description of specific embodiments thereof taken in conjunction with the accompanying drawings.
Drawings
Some specific embodiments of the invention will be described in detail hereinafter, by way of illustration and not limitation, with reference to the accompanying drawings. The same reference numbers in the drawings identify the same or similar elements or components. Those skilled in the art will appreciate that the drawings are not necessarily drawn to scale. In the drawings:
FIG. 1 is a schematic flow chart diagram of a vehicle control method according to one embodiment of the invention;
FIG. 2 is a schematic flow chart of a vehicle control method according to another embodiment of the invention;
FIG. 3 is a schematic flow chart of a vehicle control method according to yet another embodiment of the invention;
fig. 4 is a schematic flowchart of a vehicle control method according to still another embodiment of the invention.
Detailed Description
Fig. 1 is a schematic flowchart of a control method of a vehicle mirror according to one embodiment of the present invention. The present embodiment provides a control method of a vehicle rearview mirror, which may include:
s10, detecting the parking space type of the vehicle when the automatic parking function of the vehicle is started;
s20, when the parking space type is a vertical parking space or an inclined parking space, detecting the parking type of automatic parking of the vehicle, wherein the parking type comprises parking in or parking out;
s30, when the parking type is parking, controlling a rearview mirror of the vehicle to be in a folded state when the vehicle is parked to a preset stage;
s40 controls the rear view mirror to be in a folded state when the automatic parking function of the vehicle is turned on and to be switched to an unfolded state when the vehicle is parked out by a first preset distance, when the parking type is parked out.
The method for controlling the rearview mirror of the automatic parking vehicle in the embodiment is used for controlling the rearview mirror of the vehicle in the process of automatic parking of the vehicle in a vertical parking space or an inclined parking space. And the rear view mirrors in the present embodiment all refer to the external rear view mirrors of the vehicle. The judgment of the horizontal parking space and the vertical parking space in the embodiment is obtained by judging according to the detected data when the automatic parking system of the vehicle searches the parking spaces. The parking stall frame is checked through the camera to the first kind, can be very audio-visual detects whether the parking stall is level or perpendicular or the strait through the camera. The other method is to judge through an ultrasonic sensor, the ultrasonic sensor judges through detecting the outline of the vehicle around the parking space, if the outline is smaller than 2.3m, the parking space is judged to be a vertical parking space, and if the outline is larger than 2.3m, the parking space is judged to be a horizontal parking space.
When the automatic parking type of the vehicle is parking, a rearview mirror controlling the vehicle is in a folded state when the vehicle is parked to a preset stage until parking is finished. The preset stage of the present application is the last stage of automatic parking of the vehicle. Specifically, the system automatically plans a path in the whole automatic parking process of the vehicle, wherein the path comprises a vehicle running route and a gear shifting point, the next stage is defined when the vehicle is automatically parked and the last stage is defined when the vehicle is shifted once and the parking is finished. The folding rear view mirror is triggered only at the beginning of the last phase. Under normal conditions, automatic parking of the vehicle is defaulted to backing and warehousing, so that the risk that the outer rearview mirrors of the vehicle collide with the vehicle on the side of the parking space or the outer rearview mirrors of the vehicle on the side edge often occurs when the vehicle is parked in the parking space in the last stage, and the risk that the rearview mirrors are scraped with adjacent vehicles can be greatly reduced after the vehicle is folded in the last stage.
In addition, when the vehicle is parked out of the parking space, the outer rearview mirror can be scraped with an adjacent vehicle at the first time when the vehicle comes out, so that the outer rearview mirror is in a folded state when automatic parking starts, and the outer rearview mirror is switched to an unfolded state after the outer rearview mirror reaches a first preset distance, and the risk that the vehicle scrapes a side vehicle when the vehicle is parked out of the parking space automatically can be well avoided. In this embodiment, the first preset distance is set to allow the vehicle to travel a certain distance first, and the distance between the outside rearview mirror and the adjacent outside rearview mirror is staggered, so that a sufficient space is ensured for unfolding the rearview mirror, and the rearview mirror is not scratched. The distance needs to be calibrated according to different vehicle types because the position of the external rearview mirror of each vehicle type is different. In this embodiment, the first preset distance is smaller than the length of the vehicle body. The first predetermined distance is about 40-80cm. For example 40cm, 50cm, 80cm. 50cm may be preferred in this embodiment.
FIG. 2 is a schematic flow chart of a vehicle control method according to another embodiment of the invention; as another specific embodiment of the present invention, after detecting the parking type of automatic parking of the vehicle, the method further includes:
s31, detecting whether other vehicles exist in parking spaces on two sides adjacent to a target parking space to be parked;
and S32, under the condition that other vehicles exist in the parking spaces on two sides of the target parking space, continuously detecting the minimum distance between the rearview mirror and the other vehicles when the vehicles are automatically parked in the target parking space, controlling the rearview mirror to be in a folded state when the minimum distance is smaller than a second preset distance, and controlling the rearview mirror to be in the folded state when the vehicles are parked to a preset stage when the minimum distance is larger than or equal to the second preset distance.
In this embodiment, when the automatic parking of the vehicle starts, a sensor of the automatic parking system of the vehicle is used to detect whether a vehicle is in a parking space adjacent to the parking space of the automatically parked vehicle, and the distance between the vehicle and the adjacent vehicle is continuously detected when the vehicle is in the adjacent parking space. According to the different control modes of the rearview mirror, the control precision of the rearview mirror in the automatic parking process of the vehicle is improved according to the distance between the vehicle and the adjacent vehicle, so that the control steps of the rearview mirror are reduced when no vehicle exists in the adjacent parking space, and the condition that the control system or the mechanical structure of the rearview mirror is aged due to the fact that the rearview mirror is controlled to be unfolded and folded under any condition is avoided. And when a vehicle is arranged on the adjacent vehicle of the vehicle, the rearview mirrors are respectively controlled according to the different distances between the vehicle and the adjacent vehicle, so that the scraping probability between the rearview mirrors and the adjacent vehicle can be further reduced, and the safety of automatic parking is improved.
Of course, as another embodiment, the detection of the parking space adjacent to the vehicle may be that, if only one side of the parking space adjacent to the parking space where the vehicle is located has the vehicle, the control manner described above may be only for the rearview mirror on the side having the vehicle. And the rearview mirror on the side without the vehicle can be controlled to be in the unfolded state and not to be changed.
In this embodiment, the minimum distance between the rearview mirror and the adjacent vehicle is detected during the second preset distance. Of course the minimum distance is the vertical distance. And not only the distance between the rearview mirror and the adjacent vehicle body, but also the vertical distance between the rearview mirror and the rearview mirror of the adjacent vehicle. Specifically, the second preset distance may be 10-30cm. For example, it may be 10cm, 20cm or 30cm. Preferably, this embodiment may be 10cm.
FIG. 3 is a schematic flow chart diagram of a vehicle control method according to yet another embodiment of the invention; in another specific embodiment of the present invention, after detecting the parking type of the vehicle parking automatically, the method further includes:
s41, detecting whether other vehicles exist in parking spaces on two sides adjacent to the target parking space;
s42, under the condition that other vehicles are detected in two parking spaces adjacent to the target parking space, the minimum distance between a rearview mirror of the vehicle and the other vehicles is detected when the vehicle is automatically parked out of the parking space, the rearview mirror is controlled to be in a folded state when the automatic parking function of the vehicle is started when the minimum distance is larger than or equal to a third preset distance, and the rearview mirror is switched to be in an unfolded state when the vehicle is parked out of the first preset distance; and when the minimum distance is less than a third preset distance, the rearview mirror is controlled to be in a folded state when the automatic parking function of the vehicle is started, and is switched to an unfolded state after the vehicle is completely parked out of the parking space.
Similarly, in this embodiment, when the automatic parking type is parking, the detection device in the automatic vehicle parking system is also used to continuously detect whether there is a vehicle in a parking space adjacent to the vehicle in which the vehicle is parked. When a vehicle is parked in the adjacent parking space of the parked vehicle, the distance between the parked vehicle and the adjacent vehicle is continuously detected, and the rearview mirrors are specifically controlled to be in an unfolded state or a folded state when the vehicle is automatically parked out according to the distance. In the embodiment, different control modes are adopted for the rearview mirrors according to the distance, so that the control precision of the rearview mirrors in the automatic parking process of the vehicle is improved, the control steps for the rearview mirrors are reduced when no vehicle exists in the adjacent parking spaces, and the condition that the control system or the mechanical structure of the rearview mirrors is aged due to the fact that the rearview mirrors are controlled to be unfolded and folded under any condition is avoided. When a vehicle is in a parking space adjacent to the parking space where the vehicle is located, the rear-view mirror of the vehicle is controlled to be unfolded at different moments according to different distances between the vehicle and the adjacent vehicle, the scraping probability of the rear-view mirror of the vehicle and the adjacent vehicle is further reduced, and the safety of automatic parking is improved.
Similarly, when the automatic parking type is parking out, and if only one side of the parking space adjacent to the parking space where the vehicle is located has the vehicle, the control mode can be only applied to the rearview mirror on the side having the vehicle. And the rearview mirror on the side without the vehicle can be controlled to be in the unfolded state and not to be changed.
In this embodiment, the third predetermined distance is 10-30cm. The third predetermined distance may be 10-30cm. For example, it may be 10cm, 20cm or 30cm. This embodiment may preferably be 10cm.
FIG. 4 is a schematic flow chart diagram of a vehicle control method according to yet another embodiment of the invention; as another specific embodiment of the present invention, after detecting the parking space type of the vehicle for parking, the method further includes:
and S50, when the parking space type of the vehicle is detected to be a horizontal parking space, controlling a rearview mirror of the vehicle to be in an unfolded state until parking is finished.
If the vehicle is a horizontal parking space, the risk that the rearview mirror of the vehicle scrapes an adjacent vehicle does not exist when the vehicle automatically parks, so that the parking action can be directly finished in the unfolded state of the rearview mirror.
As another embodiment of the present invention, the present embodiment further provides a vehicle rearview mirror control system for automatic parking. The control system for the vehicle rearview mirror during automatic parking may include a control device including a memory in which a control program is stored and a processor, the control program being executed by the processor to implement the control method for the vehicle rearview mirror according to the above. The processor may be a Central Processing Unit (CPU), a digital processing unit, or the like. The processor receives and transmits data through the communication interface. The memory is used for storing programs executed by the processor. The memory is any medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by the computer, or a combination of memories. The above-described computing program may be downloaded from a computer-readable storage medium to a corresponding computing/processing device or to a computer or external storage device via a network (e.g., the internet, a local area network, a wide area network, and/or a wireless network).
As another embodiment of the present invention, the present embodiment also provides a vehicle that may include the above automatic parking vehicle mirror control system. Specifically, the vehicle in this embodiment further includes an automatic parking system, which includes various sensors mounted on the vehicle body, and can detect the environment information around the vehicle, and analyze the parking space type, the distance between the vehicle and the surrounding obstacle, and the like according to the environment information. And the novel model is transmitted to a vehicle rearview mirror control system, and the novel model and the vehicle rearview mirror control system have a fusion effect. The risk of scraping the rearview mirror and the adjacent vehicle in the automatic parking process of the vehicle is reduced, and the safety of automatic parking is improved.
Thus, it should be appreciated by those skilled in the art that while a number of exemplary embodiments of the invention have been illustrated and described in detail herein, many other variations or modifications consistent with the principles of the invention may be directly determined or derived from the disclosure of the present invention without departing from the spirit and scope of the invention. Accordingly, the scope of the invention should be understood and interpreted to cover all such other variations or modifications.
Claims (8)
1. A control method of a vehicle rearview mirror, characterized by comprising:
when the automatic parking function of the vehicle is started, detecting the parking space type of the vehicle for parking;
when the parking space type is a vertical parking space or an inclined parking space, detecting a parking type of automatic parking of the vehicle, wherein the parking type comprises parking in or parking out;
when the parking type is parking, controlling a rearview mirror of the vehicle to be in a folded state when the vehicle is parked to a preset stage; the preset stage is a stage of last gear shifting of the vehicle before the automatic parking is finished;
when the parking type is parking out, controlling the rearview mirror to be in a folded state when an automatic parking function of the vehicle is started, and switching to an unfolded state when the vehicle is parked out of a first preset distance; the first preset distance is 40-80cm;
when the parking type is parking, the control method further includes:
detecting whether other vehicles exist in parking spaces on two sides adjacent to a target parking space to be parked;
under the condition that other vehicles exist in the parking spaces on two sides of the target parking space, continuously detecting the minimum distance between the rearview mirror and the other vehicles when the rearview mirror is automatically parked in the target parking space, and controlling the rearview mirror to be in a folded state when the minimum distance is smaller than a second preset distance; and when the minimum distance is greater than or equal to the second preset distance, controlling the rearview mirror to be in a folded state when the vehicle is parked to the preset stage.
2. The control method of a vehicle mirror according to claim 1, wherein the first preset distance is less than a body length of the vehicle.
3. The control method of a vehicle rearview mirror according to claim 2,
the second preset distance is 10-30cm.
4. The control method of a vehicle mirror according to claim 1,
when it is detected that the parking type is park-out, the control method further includes:
detecting whether other vehicles exist in parking spaces on two sides close to a target parking space to be parked or not;
when other vehicles exist in the parking spaces on both sides of the target parking space, continuously detecting the minimum distance between the rearview mirror of the vehicle and the other vehicles when the vehicle is automatically parked out of the parking space, controlling the rearview mirror to be in a folded state when the automatic parking function of the vehicle is started when the minimum distance is greater than or equal to a third preset distance, and switching to be in an unfolded state when the vehicle is parked out of the first preset distance; and when the minimum distance is smaller than the third preset distance, controlling the rearview mirror to be in the folded state when the automatic parking function of the vehicle is started, and switching to the unfolded state after the vehicle is completely parked out of the parking space.
5. The control method of a vehicle rearview mirror according to claim 4,
the third preset distance is 10-30cm.
6. The control method of a vehicle mirror according to claim 1,
after the parking space type of the vehicle parking is detected, the method further comprises the following steps:
and when the parking space type of the vehicle is detected to be a horizontal parking space, controlling the rearview mirror of the vehicle to be in an unfolded state.
7. A vehicle rearview mirror control system during automatic parking is characterized in that,
comprising a control device comprising a memory and a processor, the memory having stored therein a control program for implementing a control method of a vehicle mirror according to any one of claims 1-6 when executed by the processor.
8. A vehicle comprising the automatic parking vehicle mirror control system of claim 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110038024.6A CN112660027B (en) | 2021-01-12 | 2021-01-12 | Control method and control system of vehicle rearview mirror and vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110038024.6A CN112660027B (en) | 2021-01-12 | 2021-01-12 | Control method and control system of vehicle rearview mirror and vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112660027A CN112660027A (en) | 2021-04-16 |
| CN112660027B true CN112660027B (en) | 2022-12-16 |
Family
ID=75414534
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110038024.6A Active CN112660027B (en) | 2021-01-12 | 2021-01-12 | Control method and control system of vehicle rearview mirror and vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112660027B (en) |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2841418Y (en) * | 2005-07-20 | 2006-11-29 | 上海干巷汽车镜（集团）有限公司 | Back mirror auto-folder device |
| CN101844543A (en) * | 2010-05-25 | 2010-09-29 | 奇瑞汽车股份有限公司 | Automatic control method and system for exterior rearview mirror of automobile |
| DE102011007017A1 (en) * | 2011-04-08 | 2012-10-11 | Robert Bosch Gmbh | Method and control system for adjusting at least one exterior mirror of a motor vehicle |
| JP6742378B2 (en) * | 2018-09-11 | 2020-08-19 | 本田技研工業株式会社 | Vehicle control device and vehicle control method |
| CN109094504A (en) * | 2018-09-28 | 2018-12-28 | 东南（福建）汽车工业有限公司 | A kind of exterior mirror obstacle avoidance system and method based on preposition parking radar |
-
2021
- 2021-01-12 CN CN202110038024.6A patent/CN112660027B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN112660027A (en) | 2021-04-16 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP6741022B2 (en) | Parking assistance method and device | |
| US9595197B2 (en) | Lateral control apparatus of vehicle and control method of the same | |
| EP3886075A1 (en) | Parking space detection method and device | |
| EP2085791A1 (en) | Image processing device, image processing method, and program | |
| US10896336B2 (en) | Parking compartment recognition apparatus | |
| CN111028534B (en) | Parking space detection method and device | |
| CN102014273A (en) | Methods and systems for displaying vehicle rear camera images in different modes | |
| EP3608179B1 (en) | Display control device, display control system, display control method, and program | |
| CN112046469B (en) | Automatic parking method, system, server and storage medium | |
| JP2018106479A (en) | Parking control device, program, and recording medium | |
| KR20180068492A (en) | Apparatus for controlling an automatic parking, system having the same and method thereof | |
| US20210011481A1 (en) | Apparatus for controlling behavior of autonomous vehicle and method thereof | |
| CN112660027B (en) | Control method and control system of vehicle rearview mirror and vehicle | |
| CN107545775B (en) | Apparatus and method for displaying parking area | |
| JP5109950B2 (en) | Parking assistance device | |
| CN113353068B (en) | Parking control method and device, vehicle and medium | |
| KR101976389B1 (en) | Apparatus and Method for Controlling Automatic Parking of a Vehicle | |
| CN112224197B (en) | Method and device for detecting parking space during reversing, vehicle and storage medium | |
| JPWO2019012848A1 (en) | Parking assistance device | |
| JP2024528992A (en) | Method and system for determining traffic mirror orientation - Patents.com | |
| JP2018156222A (en) | Obstacle detection device | |
| CN118254792B (en) | Vehicle and method for determining parking space of vehicle | |
| JP2000289548A (en) | Vehicle backing support device | |
| CN118636899B (en) | Parking assistance method, vehicle, readable medium and computer program product | |
| JP7452374B2 (en) | Object detection device and object detection program |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |